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<li class="toctree-l4"><a class="reference internal" href="../graph_nav_view_map/README.html">Graph Nav View Map</a></li>
<li class="toctree-l4"><a class="reference internal" href="../graph_nav_view_gps/README.html">Graph Nav View GPS Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../get_mission_state/README.html">Get Mission State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../remote_mission_service/README.html">Remote Mission Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../mission_question_answerer/README.html">Mission Question Answerer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../mission_recorder/README.html">Mission Recorder</a></li>
<li class="toctree-l4"><a class="reference internal" href="../replay_mission/README.html">Replay Mission</a></li>
<li class="toctree-l4"><a class="reference internal" href="../post_docking_callbacks/README.html">Post Docking Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../area_callback/README.html">Area Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../edit_autowalk/README.html">Edit Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../record_autowalk/README.html">Record Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../extract_images_from_walk/README.html">Extract Images from Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../network_request_callback/README.html">Network Request Callback</a></li>
<li class="toctree-l4"><a class="reference internal" href="../network_request_callback/README.html#id1">Network Request Callback</a></li>
<li class="toctree-l4"><a class="reference internal" href="../remote_mission_service/spot_check/README.html">SpotCheck Mission Service</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../docs/joint_control_examples.html">Joint Control API Examples</a></li>
<li class="toctree-l3"><a class="reference internal" href="../docs/orbit.html">Orbit</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../orbit/hello_orbit/README.html">Hello Orbit</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/export_run_archives/README.html">Export Run Archives</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/export_site_walk_archives/README.html">Export Sitewalk Archives</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/anomalies/README.html">Anomalies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/schedule_mission/README.html">Schedule Mission</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/runs_response/README.html">Runs Response</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/send_robot_back_to_dock/README.html">Return to Dock</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/toggle_mission_based_on_weather/README.html">Mission Toggle</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/webhook/README.html">Webhook</a></li>
<li class="toctree-l4"><a class="reference internal" href="../orbit/backups/README.html">Backups</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../orbit/webhook_integration/README.html#example-overview">Example Overview</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../README.html">Python Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/README.html">Client</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/area_callback.html">Area Callback</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/area_callback_region_handler_base.html">Area Callback Region Handler</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/area_callback_service_runner.html">Area Callback Service Runner</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/area_callback_service_servicer.html">Area Callback Servicer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/area_callback_service_utils.html">Area Callback Service Utils</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/arm_surface_contact.html">Arm Surface Contact</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/async_tasks.html">Async Tasks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/audio_visual.html">Audio Visual</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/audio_visual_helpers.html">Audio Visual Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/auth.html">Auth</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/auto_return.html">Auto Return</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/autowalk.html">Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/bddf.html">BDDF</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/bddf_download.html">BDDF Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/channel.html">Channel</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/command_line.html">Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/common.html">Common</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/data_acquisition.html">Data Acquisition</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/data_acquisition_helpers.html">Data Acquisition Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/data_acquisition_plugin.html">Data Acquisition Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/data_acquisition_plugin_service.html">Data Acquisition Plugin Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/data_acquisition_store.html">Data Acquisition Store</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/data_buffer.html">Data Buffer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/data_chunk.html">Data Chunk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/data_service.html">Data Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/directory_registration.html">Directory Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/directory.html">Directory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/docking.html">Docking</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/door.html">Door</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/estop.html">E-Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/error_callback_result.html">Error Callback Result</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/fault.html">Fault</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/frame_helpers.html">Frame Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/graph_nav.html">Graph Nav</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/gripper_camera_param.html">Gripper Camera Params</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/gps/README.html">GPS</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/gps/aggregator_client.html">Aggregator Client</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/gps/gps_listener.html">GPS Listener</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/gps/NMEAParser.html">NMEA Parser</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/gps/ntrip_client.html">NTRIP Client</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/gps/registration_client.html">Registration Client</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/image.html">Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/image_service_helpers.html">Image Service Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/inverse_kinematics.html">Inverse Kinematics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/ir_enable_disable.html">IR Enable/Disable</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/keepalive.html">Keep Alive</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/lease.html">Lease</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/lease_resource_hierarchy.html">Lease Resource Hierarchy</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/lease_validator.html">Lease Validator</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/license.html">License</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/local_grid.html">Local Grid</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/log_status.html">Log Status</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/math_helpers.html">Math Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/manipulation_api_client.html">Manipulation API</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/map_processing.html">Map Processing</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/metrics_logging.html">Metrics Logging</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/network_compute_bridge_client.html">Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/payload_registration.html">Payload Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/payload_software_update.html">Payload Software Update</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/payload_software_update_initiation.html">Payload Software Update Initiation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/payload.html">Payload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/point_cloud.html">Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/power.html">Power</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/processors.html">Processors</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/ray_cast.html">Ray casting</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/recording.html">Recording</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/robot_command.html">Robot Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/robot_id.html">Robot ID</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/robot.html">Robot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/robot_state.html">Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/sdk.html">SDK</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/service_customization_helpers.html">Service Customization Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/signals_helpers.html">Signals Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/README.html">Spot CAM</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/audio.html">Audio</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/compositor.html">Compositor</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/health.html">Health</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/lighting.html">Lighting</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/lights_helper.html">Lights Helper</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/media_log.html">Media Log</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/network.html">Network</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/power.html">Power</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/ptz.html">PTZ</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/streamquality.html">Stream Quality</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_cam/version.html">Version</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/spot_check.html">Spot Check</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/time_sync.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/token_cache.html">Token Cache</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/token_manager.html">Token Manager</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/units_helpers.html">Units Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-client/src/bosdyn/client/world_object.html">World Object</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/README.html">Core</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/README.html">BDDF</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/base_data_reader.html">Base Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/block_writer.html">Block Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/bosdyn.html">BDDF Conventions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/common.html">Common</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/data_reader.html">Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/data_writer.html">Data Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/file_indexer.html">File Indexer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/grpc_proto_reader.html">GRPC Proto Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/grpc_reader.html">GRPC Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html">GRPC Service Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html">GRPC Service Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/message_reader.html">Message Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/pod_series_writer.html">POD Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader.html">Protobuf Channel Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/protobuf_reader.html">Protobuf Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/protobuf_series_writer.html">Protobuf Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/bddf/stream_data_reader.html">Stream Data Reader</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-core/src/bosdyn/deprecated.html">Deprecated</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-mission/src/bosdyn/mission/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-mission/src/bosdyn/mission/constants.html">Constants</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-mission/src/bosdyn/mission/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-mission/src/bosdyn/mission/remote_client.html">Remote Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-mission/src/bosdyn/mission/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-mission/src/bosdyn/mission/util.html">Util</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../bosdyn-choreography-client/src/bosdyn/choreography/client/README.html">Choreography</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-choreography-client/src/bosdyn/choreography/client/choreography.html">Choreography</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_to_proto.html">Animation File to Proto</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_conversion_helpers.html">Animation File to Proto Helpers</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../bosdyn-orbit/src/bosdyn/orbit/README.html">Orbit (formerly Scout)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-orbit/src/bosdyn/orbit/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-orbit/src/bosdyn/orbit/utils.html">Utils</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-orbit/src/bosdyn/orbit/exceptions.html">Exceptions</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../bosdyn-scout/src/bosdyn/scout/README.html">Scout (deprecated)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-scout/src/bosdyn/scout/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-scout/src/bosdyn/scout/utils.html">Utils</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../bosdyn-scout/src/bosdyn/scout/exceptions.html">Exceptions</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch1.html">Fetch Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch2.html">Part 2: Training the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch3.html">Part 3: Evaluating the Model</a></li>
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  <!--
Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.

Downloading, reproducing, distributing or otherwise using the SDK Software
is subject to the terms and conditions of the Boston Dynamics Software
Development Kit License (20191101-BDSDK-SL).
--><section id="arm-and-mobility">
<h1>Arm and Mobility<a class="headerlink" href="#arm-and-mobility" title="Permalink to this heading"></a></h1>
<p>This example program shows sending a mobility and arm command at the same time. It demonstrates how to
initialize the SDK to talk to robot and how to command Spot to walk in a trajectory while simultaneously
moving the arm in a trajectory.</p>
<section id="understanding-spot-programming">
<h2>Understanding Spot Programming<a class="headerlink" href="#understanding-spot-programming" title="Permalink to this heading"></a></h2>
<p>For your best learning experience, please use the <a class="reference internal" href="../../../docs/python/quickstart.html"><span class="doc">Quickstart Guide</span></a>
found in the SDK’s docs/python directory. That will help you get your Python programming environment set up properly.</p>
</section>
<section id="common-problems">
<h2>Common Problems<a class="headerlink" href="#common-problems" title="Permalink to this heading"></a></h2>
<ol class="simple">
<li><p>Remember, you will need to launch a software e-stop separately. The E-Stop programming example is <a class="reference internal" href="../estop/README.html"><span class="doc">here</span></a>.</p></li>
<li><p>Make sure the Motor Enable button on the Spot rear panel is depressed.</p></li>
<li><p>Make sure Spot is sitting upright, with the battery compartment on the side closest the floor.</p></li>
</ol>
</section>
<section id="setup-dependencies">
<h2>Setup Dependencies<a class="headerlink" href="#setup-dependencies" title="Permalink to this heading"></a></h2>
<p>This example requires the bosdyn API and client to be installed, and must be run using python3. Using pip, these dependencies can be installed using:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">python3</span> <span class="o">-</span><span class="n">m</span> <span class="n">pip</span> <span class="n">install</span> <span class="o">-</span><span class="n">r</span> <span class="n">requirements</span><span class="o">.</span><span class="n">txt</span>
</pre></div>
</div>
</section>
<section id="run-the-example">
<h2>Run the Example<a class="headerlink" href="#run-the-example" title="Permalink to this heading"></a></h2>
<p>Please be aware that this demo causes the robot to walk and move its arm. You have some
control over how much the robot moves (see _L_ROBOT_SQUARE and _L_ARM_CIRCLE) but regardless, the
robot should have at least (_L_ROBOT_SQUARE + 3) m of space in each direction when this demo is used.
By default, _L_ROBOT_SQUARE is 0.5, so an unmodified example should have ~3.5m space all around.</p>
<p>To run the example:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">python3</span> <span class="n">arm_and_mobility_command</span><span class="o">.</span><span class="n">py</span> <span class="n">ROBOT_IP</span>
</pre></div>
</div>
</section>
</section>


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